US8967010B2 - System and method for providing a selectable multiple output motor - Google Patents
System and method for providing a selectable multiple output motor Download PDFInfo
- Publication number
- US8967010B2 US8967010B2 US13/367,415 US201213367415A US8967010B2 US 8967010 B2 US8967010 B2 US 8967010B2 US 201213367415 A US201213367415 A US 201213367415A US 8967010 B2 US8967010 B2 US 8967010B2
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- US
- United States
- Prior art keywords
- motor
- gearbox
- arm
- rotor
- gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/12—Structural association with clutches, brakes, gears, pulleys or mechanical starters with auxiliary limited movement of stators, rotors or core parts, e.g. rotors axially movable for the purpose of clutching or braking
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/12—Structural association with clutches, brakes, gears, pulleys or mechanical starters with auxiliary limited movement of stators, rotors or core parts, e.g. rotors axially movable for the purpose of clutching or braking
- H02K7/125—Structural association with clutches, brakes, gears, pulleys or mechanical starters with auxiliary limited movement of stators, rotors or core parts, e.g. rotors axially movable for the purpose of clutching or braking magnetically influenced
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/19—Gearing
- Y10T74/19019—Plural power paths from prime mover
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/19—Gearing
- Y10T74/19642—Directly cooperating gears
- Y10T74/19679—Spur
- Y10T74/19684—Motor and gearing
Definitions
- the present disclosure relates to electric motors. More particularly, the present disclosure relates to systems and methods for providing a selectable multiple output motor for powering separate arms of a surgical robot.
- An electric motor is typically used for converting electrical energy to mechanical energy in order to power most mechanical devices.
- a typical motor includes one output shaft extending from the rotor and uses a clockwise rotation or a counter-clockwise rotation of the output shaft to operate the mechanical subsystem.
- a gear-changing unit or transmission may be engaged with the output shaft to divert the motor rotation, alter the speed of the rotation or to power another drive train and perform more than two operations on a mechanical device.
- Systems have been proposed to shift the entire motor to engage different drive trains, but these require an external actuator to move the motor. However, to avoid the use of multiple motors, an actuator or transmissions a system which increases the ability to alter the drive train with a single motor is desirable.
- the actuation mechanism includes a motor having a first end with a first motor output gear and a second end with a second motor output gear, the motor defining a common axis of rotation for the first and second motor output gears supported on a common rotor.
- the actuation mechanism also includes a first gearbox positioned adjacent the first end of the motor and a second gearbox positioned adjacent the second end of the motor.
- the actuation mechanism further includes a first arm adapted to mechanically cooperate with the first gearbox via a first pivot member and a second arm adapted to mechanically cooperate with the second gearbox via a second pivot member.
- a housing for supporting the motor, the first and second gearboxes, and the first and second pivot members is provided.
- the motor include a stator, providing a magnetic field, and a rotor or armature slidably supported in the housing so as to slide along the motor axis of rotation.
- the rotor is configured to be axially movable between a first position where the rotor engages the first gearbox to rotatably actuate the first arm and a second position where the rotor engages the second gearbox to rotatably actuate the second arm.
- the rotor is moved between the two positions by varying the magnetic field of the stator.
- input and output gears are provided at opposed ends of the first gearbox and are operatively connected to one another
- second gearbox input and output gears are provided at opposed ends of the second gearbox, and are operatively connected to one another.
- the rotor is slidable relative to the stator to the first position such that the first motor output gear engages one of the first gearbox input gears such that rotary motion to the first arm is enabled via the first gearbox output gear.
- the rotor is slidable relative to the stator to the second position such that the second motor output gear engages the second gearbox input gear such that rotary motion to the second arm is enabled via the second gearbox output gear.
- the first arm is adapted to be operable with a a robotic system when the rotor and thereby the motor is engaged to the first gearbox.
- the second arm is adapted to be operable with a robotic system when the motor is engaged to the second gearbox.
- the motor output redirection system includes a motor having a rotor and a stator.
- the motor output redirection system also includes a pair of gearboxes, each positioned adjacent opposed ends of the motor and a pair of arms, each positioned adjacent a respective gearbox.
- the rotor is configured to be axially movable between a first position where the rotor engages one gearbox and a second position where the rotor engages another gearbox.
- a method of redirecting a motor output includes providing a motor having a first end with a first motor output gear and a second end with a second motor output gear, the motor defining a common axis of rotation for the first and second motor output gears supported on a common rotor; positioning a first gearbox adjacent the first end of the motor; positioning a second gearbox adjacent the second end of the motor; mechanically associating a first arm with the first gearbox; mechanically associating a second arm with the second gearbox; supporting the motor, the first and second gearboxes, and the first and second pivot members in a housing such that the rotor of the motor slides along the common axis of rotation; and axially moving the rotor between a first position where the rotor engages the first gearbox to rotatably actuate the first arm and a second position where the rotor engages the second gearbox to rotatably actuate the second arm.
- FIG. 1 illustrates a selectable multiple output motor configuration, wherein the rotor of a motor engages a second gearbox which actuates a second arm, in accordance with the present disclosure
- FIG. 2 illustrates the selectable multiple output motor configuration of FIG. 1 , wherein the rotor of a motor engages a first gearbox actuating a first arm, in accordance with the present disclosure
- FIG. 3 is a schematic cross-sectional view of a motor configuration, in accordance with the present disclosure.
- FIG. 4A illustrates, schematically, a rotor of a motor in a neutral position disengaged from a first gear box and from a second gear box;
- FIG. 4B illustrates, schematically, the rotor of the motor of FIG. 4A shown in a first position disengaged from the first gear box and engaged with the second gear box;
- FIG. 4C illustrates, schematically, the rotor of the motor of FIG. 4A shown in a second position engaged with the first gear box and disengaged from the second gear box;
- FIG. 5A illustrates, schematically, an actuation mechanism for actuating the second arm via the second gear box, in accordance with the present disclosure
- FIG. 5B illustrates, schematically, an actuation mechanism for actuating the first arm via the first gear box, in accordance with the present disclosure.
- Selectable multiple output motor configuration 100 includes a motor 110 having a first end supporting a first motor output gear 112 and a second end supporting a second motor output gear 114 .
- Motor 110 includes a common rotor 330 (see FIG. 4A ) defining a common axis of rotation.
- first and second motor output gears 112 , 114 are supported on opposed ends of common rotor 330 .
- first gearbox 120 is positioned adjacent the first end and the first motor output gear 112 of motor 110 .
- Second gearbox 130 is positioned adjacent the second end and the second motor output gear 114 .
- First gearbox input gears and output gears 122 , 124 are provided at opposed ends of first gearbox 120 and are operatively connected to one another such that rotation of gear 122 may result in rotation of gear 124 .
- second gearbox input and output gears 132 , 134 are provided at opposed ends of second gearbox 130 and are operatively connected to one another such that rotation of gear 132 may result in rotation of gear 134 .
- a first arm 140 is provided and adapted to mechanically cooperate with first gear box output gear 124 of first gearbox 120 via a first pivot or gear member 142 .
- a second arm 150 is provided and adapted to mechanically cooperate with second gear box output gear 134 of second gearbox 130 via a second pivot or gear member 152 .
- Pivoting arms, 140 , 150 are schematic in nature and may represent any rotational or translational joint in a mechanical device or robot.
- gear 124 may be a pinion and gear 142 may be a rack.
- Rotor 330 is configured to translate axially with respect to the fixed stator 310 of motor 110 to selectably engage first gearbox 120 and second gearbox 130 in a direction substantially parallel to the common axis of rotation using one or the other of first and second motor output gears 112 , 114 .
- First arm 140 and second arm 150 are configured to selectively move in a rotational manner upon connection of rotor 330 to respective first gear box 120 and second gear box 130 and upon actuation/activation of motor 110 .
- a housing 195 is provided for supporting motor 110 , first gearbox 120 , second gearbox 130 , and first and second pivot members 142 , 152 .
- Rotor 330 is slidably supported in stator 330 of motor 110 so as to slide along an axis that is substantially parallel to the common axis of rotation.
- motor 110 and housing 195 are configured such that rotor 330 is axially movable between a first position where rotor 330 engages first gearbox 120 to rotatably actuate first arm 140 and a second position where rotor 330 engages second gearbox 130 to rotatably actuate second arm 150 .
- rotor 330 is shown being moved in direction “A” in order to engage and actuate second gearbox 130 , which in turn actuates second arm 150 in a rotational direction “B.”
- rotor 330 is slidable relative to motor 110 and thus stator 320 to the second position such that second motor output gear 114 engages first gearbox input gear 132 to form a connection, at 160 , therewith, such that a rotary motion to second arm 150 is enabled via first gearbox output gear 134 .
- the sliding of rotor 330 towards direction “A” also causes a disconnection, at 170 , of first motor output gear 112 from first gearbox input gear 122 , such that first arm 140 does not rotate due to rotor 330 .
- selectable multiple output motor configuration 100 of FIG. 1 is shown, where rotor 330 is moved relative to motor 110 and thus stator 320 , into engagement with first gearbox 120 to actuate first arm 140 , in accordance with the present disclosure.
- FIG. 2 illustrates rotor 330 moving in direction “C” in order to engage and actuate first gearbox 120 , which in turn actuates first arm 140 in a rotational direction “D.”
- rotor 330 is slidable relative to motor 110 to the first position such that first motor output gear 112 engages first gearbox input gear 122 to form a connection, at 170 , therewith, such that rotary motion to first arm 140 is enabled via first gearbox output gear 124 .
- the sliding of rotor 330 towards direction “C” also causes a disconnection of second motor output gear 114 from second gearbox input gear 132 , at 160 , such that second arm 150 does not rotate due to rotor 330 .
- motor 110 may include a rotor 330 and a stator 320 (as seen in FIG. 3 ), or may be a fluid powered motor.
- Rotor 330 may be shifted laterally in stator 320 by using a shifter fork with actuator or by special magnetic winding of the rotor and/or Stator that allows the rotor to be actuated laterally in the manner of a solenoid.
- a fluid powered motor may be either pneumatic or hydraulic.
- a pneumatic motor or compressed air engine is a type of motor which does mechanical work by expanding compressed air. Pneumatic motors generally convert the compressed air to mechanical work through either linear or rotary motion.
- Linear motion of the rotor 330 may come from either a diaphragm or piston actuator, while rotary motion may be supplied by either a vane type air motor or piston air motor.
- a hydraulic motor is a mechanical actuator that converts hydraulic pressure and flow into torque and angular displacement (rotation). It is contemplated that motor 110 is any type of motor including a stator 320 and a rotor 330 .
- motor 110 includes a stator 320 and a rotor 330 .
- a common rotor 330 centrally extends the length of motor 110 and defines the common axis or rotation for first and second motor output gears 112 , 114 (see FIGS. 1 and 2 ) supported on common rotor 330 .
- rotor 330 is centrally positioned within motor 110 and centrally positioned with respect to stator 320 . With rotor 330 centrally positioned, in a neutral position with respect to stator 320 , rotor 330 is disengaged from first gear box 120 at 170 and from second gear box 130 at 160 . In particular, first motor output gear 112 of rotor 330 is spaced from first gearbox input gear 122 of gear box 120 , and second motor output gear 114 of rotor 330 is spaced from second gearbox input gear 132 of gear box 130 . As seen in FIG. 4B , rotor 330 of motor 110 is shown in a first position disengaged from first gear box 120 and engaged with second gear box 130 .
- first motor output gear 112 of rotor 330 is spaced from first gearbox input gear 122 of gear box 120
- second motor output gear 114 of rotor 330 is operatively connected with second gearbox input gear 132 of gear box 130
- rotor 330 is shown in a second position engaged with first gear box 120 and disengaged from second gear box 130
- first motor output gear 112 of rotor 330 is operatively connected with first gearbox input gear 122 of gear box 120
- second motor output gear 114 of rotor 330 is spaced from second gearbox input gear 132 of gear box 130 .
- an actuation mechanism 500 for actuating second arm 150 via second gear box 130 in accordance with the present disclosure is presented.
- Actuation mechanism 500 actuates second arm 150 via second gearbox 130 .
- Actuation mechanism 500 is activated by a button or switch 510 positioned about or connected to motor 110 .
- rotor 330 is axially moved toward second gearbox 130 , such that second motor output gear 114 provides a connection, at 160 , to second gearbox input gear 132 .
- connection 160 is established, second gearbox 130 rotatably actuates arm 150 in direction “B” via first gearbox output gear 134 and second pivot pin 152 .
- Motor 110 may be connected to control unit 520 , which includes electronics capable of providing power to motor 110 .
- Control unit 520 may include at least one processor.
- processor may be used to refer to any type of computer, processor(s), or logic which may enable movement of common rotor 330 in motor 110 .
- Such a processor may include software for enabling activation of actuation mechanisms.
- actuation mechanism 500 is shown actuating first arm 140 via first gear box 120 , in accordance with the present disclosure.
- Actuation mechanism 500 actuates first arm 140 via first gearbox 120 .
- Actuation mechanism 500 is activated by a button or switch 510 positioned about or connected to motor 110 .
- a button or switch 510 When a user applies a force “C” to button 510 , rotor 330 is axially moved toward first gearbox 120 , such that first motor output gear 112 provides a connection 170 to first gearbox input gear 122 .
- connection 170 is established, first gearbox 120 rotatably actuates arm 140 in direction “D.”
- rotor 330 is configured to be axially movable between a first position where rotor 330 engages first gearbox 120 ( FIG. 5B ) to rotatably actuate first arm 140 and a second position where rotor 330 engages second gearbox 130 ( FIG. 5A ) to rotatably actuate second arm 150 .
- rotor 320 of motor 110 is capable of being axially offset along an axis of rotation thereof.
- gearboxes 120 , 130 By placing output gears 112 , 114 at each end of common rotor 330 , and placing gearboxes 120 , 130 at both ends of motor 110 , a user may select whichever gearbox 120 , 130 the user wishes to actuate/activate first/second arm 140 / 150 .
- motor 110 and actuation mechanism 500 can be located in a robotic system, where, for example, first gearbox 120 actuates a first robotic joint and second gearbox 130 actuates a second robotic joint.
- Computer program elements of the present disclosure may be embodied in hardware and/or software (including firmware, resident software, micro-code, etc.).
- the computer program elements of the present disclosure may take the form of a computer program product which may be embodied by a computer-usable or computer-readable storage medium comprising computer-usable or computer-readable program instructions, “code” or a “computer program” embodied in said medium for use by or in connection with the instruction executing system.
- the computer program elements may be incorporated with the control unit 520 (see FIGS. 5A and 5B ).
- a computer-usable or computer-readable medium may be any medium which may contain, store, communicate, propagate or transport the program for use by or in connection with the instruction executing system, apparatus or device.
- the computer-usable or computer-readable medium may for example be, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared or semiconductor system, apparatus, device or medium of propagation, such as for example the Internet.
- the computer-usable or computer-readable medium could even for example be paper or another suitable medium on which the program is printed, since the program could be electronically captured, for example by optically scanning the paper or other suitable medium, and then compiled, interpreted or otherwise processed in a suitable manner.
- the computer program product and any software and/or hardware described here form the various means for performing the functions of the present disclosure in the example embodiment(s).
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
Description
Claims (20)
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US13/367,415 US8967010B2 (en) | 2011-03-31 | 2012-02-07 | System and method for providing a selectable multiple output motor |
AU2012200902A AU2012200902A1 (en) | 2011-03-31 | 2012-02-16 | System and method for providing a selectable multiple output motor |
CA2769521A CA2769521A1 (en) | 2011-03-31 | 2012-02-27 | System and method for providing a selectable multiple output motor |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201161469853P | 2011-03-31 | 2011-03-31 | |
US13/367,415 US8967010B2 (en) | 2011-03-31 | 2012-02-07 | System and method for providing a selectable multiple output motor |
Publications (2)
Publication Number | Publication Date |
---|---|
US20120247268A1 US20120247268A1 (en) | 2012-10-04 |
US8967010B2 true US8967010B2 (en) | 2015-03-03 |
Family
ID=46925494
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US13/367,415 Active 2033-01-13 US8967010B2 (en) | 2011-03-31 | 2012-02-07 | System and method for providing a selectable multiple output motor |
Country Status (3)
Country | Link |
---|---|
US (1) | US8967010B2 (en) |
AU (1) | AU2012200902A1 (en) |
CA (1) | CA2769521A1 (en) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2020060791A1 (en) * | 2018-09-17 | 2020-03-26 | Covidien Lp | Surgical robotic systems |
Citations (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4862027A (en) | 1987-12-23 | 1989-08-29 | Mitsubishi Denki Kabushiki Kaisha | Coaxial starter motor |
US6318496B1 (en) * | 1997-10-04 | 2001-11-20 | Mercedes-Benz Lenkungen Gmbh | Steering booster system for a motor vehicle |
US20020007691A1 (en) | 2000-07-14 | 2002-01-24 | Trw Automotive Electronics & Components Gmbh & Co. Kg | Actuator for the change speed shaft of a motor vehicle automatic transmission |
US6411001B1 (en) * | 2000-10-09 | 2002-06-25 | Lockheed Martin Corporation | Variable ratio angled magnetic drive |
US6437470B1 (en) * | 2001-02-16 | 2002-08-20 | Chun-Pu Hsu | Drum-type motor with inner gear |
US6662686B2 (en) | 2002-03-21 | 2003-12-16 | Kwok Hung Chan | Automatic motor-output-redirection system |
US20060113933A1 (en) * | 2004-06-04 | 2006-06-01 | The Boeing Company | Fault-tolerant electromechanical actuator having a torque sensing control system |
US20070173788A1 (en) * | 2006-01-25 | 2007-07-26 | Schena Bruce M | Robotic arm with five-bar spherical linkage |
US20090015088A1 (en) * | 2005-11-25 | 2009-01-15 | Aram Akopian | Drive for Use in a Motor Vehicle |
US7495192B2 (en) | 2005-01-18 | 2009-02-24 | Fanuc Ltd | Arc welding robot system having arc welding apparatus |
US20100005918A1 (en) * | 2006-12-07 | 2010-01-14 | Osamu Mizuno | Joint mechanism and joint device |
US20100206686A1 (en) | 2009-02-18 | 2010-08-19 | Xerox Corporation | Gearbox Output Switcher |
US20100225902A1 (en) * | 2006-09-14 | 2010-09-09 | General Electric Company | Methods and apparatus for robotically inspecting gas turbine combustion components |
US20110233364A1 (en) * | 2010-03-26 | 2011-09-29 | Breen John J | Actuator including mechanism for converting rotary motion to linear motion |
US8042322B1 (en) * | 2007-07-30 | 2011-10-25 | Hydro-Gear Limited Partnership | Single shaft driven multiple output vehicle |
US8640801B2 (en) * | 2009-07-10 | 2014-02-04 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Propulsion device for automobile with portal axle comprising an electrical machine |
-
2012
- 2012-02-07 US US13/367,415 patent/US8967010B2/en active Active
- 2012-02-16 AU AU2012200902A patent/AU2012200902A1/en not_active Abandoned
- 2012-02-27 CA CA2769521A patent/CA2769521A1/en not_active Abandoned
Patent Citations (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4862027A (en) | 1987-12-23 | 1989-08-29 | Mitsubishi Denki Kabushiki Kaisha | Coaxial starter motor |
US6318496B1 (en) * | 1997-10-04 | 2001-11-20 | Mercedes-Benz Lenkungen Gmbh | Steering booster system for a motor vehicle |
US20020007691A1 (en) | 2000-07-14 | 2002-01-24 | Trw Automotive Electronics & Components Gmbh & Co. Kg | Actuator for the change speed shaft of a motor vehicle automatic transmission |
US6411001B1 (en) * | 2000-10-09 | 2002-06-25 | Lockheed Martin Corporation | Variable ratio angled magnetic drive |
US6437470B1 (en) * | 2001-02-16 | 2002-08-20 | Chun-Pu Hsu | Drum-type motor with inner gear |
US6662686B2 (en) | 2002-03-21 | 2003-12-16 | Kwok Hung Chan | Automatic motor-output-redirection system |
US20060113933A1 (en) * | 2004-06-04 | 2006-06-01 | The Boeing Company | Fault-tolerant electromechanical actuator having a torque sensing control system |
US7495192B2 (en) | 2005-01-18 | 2009-02-24 | Fanuc Ltd | Arc welding robot system having arc welding apparatus |
US20090015088A1 (en) * | 2005-11-25 | 2009-01-15 | Aram Akopian | Drive for Use in a Motor Vehicle |
US20070173788A1 (en) * | 2006-01-25 | 2007-07-26 | Schena Bruce M | Robotic arm with five-bar spherical linkage |
US20100225902A1 (en) * | 2006-09-14 | 2010-09-09 | General Electric Company | Methods and apparatus for robotically inspecting gas turbine combustion components |
US20100005918A1 (en) * | 2006-12-07 | 2010-01-14 | Osamu Mizuno | Joint mechanism and joint device |
US8042322B1 (en) * | 2007-07-30 | 2011-10-25 | Hydro-Gear Limited Partnership | Single shaft driven multiple output vehicle |
US20100206686A1 (en) | 2009-02-18 | 2010-08-19 | Xerox Corporation | Gearbox Output Switcher |
US8640801B2 (en) * | 2009-07-10 | 2014-02-04 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Propulsion device for automobile with portal axle comprising an electrical machine |
US20110233364A1 (en) * | 2010-03-26 | 2011-09-29 | Breen John J | Actuator including mechanism for converting rotary motion to linear motion |
Also Published As
Publication number | Publication date |
---|---|
CA2769521A1 (en) | 2012-09-30 |
AU2012200902A1 (en) | 2012-10-18 |
US20120247268A1 (en) | 2012-10-04 |
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